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<div class="title">conversions.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2012, Willow Garage, Inc.</span></div>
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<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
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<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
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<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> * $Id$</span></div>
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<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#ifndef PCL_CONVERSIONS_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#define PCL_CONVERSIONS_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#ifdef __GNUC__</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#pragma GCC system_header</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;pcl/PCLPointField.h&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor">#include &lt;pcl/PCLPointCloud2.h&gt;</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="preprocessor">#include &lt;pcl/PCLImage.h&gt;</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="preprocessor">#include &lt;pcl/point_cloud.h&gt;</span></div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="preprocessor">#include &lt;pcl/point_traits.h&gt;</span></div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="preprocessor">#include &lt;pcl/for_each_type.h&gt;</span></div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="preprocessor">#include &lt;pcl/exceptions.h&gt;</span></div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;<span class="preprocessor">#include &lt;pcl/console/print.h&gt;</span></div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;<span class="preprocessor">#ifndef Q_MOC_RUN</span></div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;<span class="preprocessor">#include &lt;boost/foreach.hpp&gt;</span></div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160; </div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;{</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  <span class="keyword">namespace </span>detail</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  {</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    <span class="comment">// For converting template point cloud to message.</span></div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="structpcl_1_1detail_1_1_field_adder.html">   65</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structpcl_1_1detail_1_1_field_adder.html">FieldAdder</a></div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    {</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      <a class="code" href="structpcl_1_1detail_1_1_field_adder.html">FieldAdder</a> (std::vector&lt;pcl::PCLPointField&gt;&amp; fields) : fields_ (fields) {};</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160; </div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;      <span class="keyword">template</span>&lt;<span class="keyword">typename</span> U&gt; <span class="keywordtype">void</span> operator() ()</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;      {</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;        <a class="code" href="structpcl_1_1_p_c_l_point_field.html">pcl::PCLPointField</a> f;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;        f.name = <a class="code" href="structpcl_1_1traits_1_1name.html">traits::name&lt;PointT, U&gt;::value</a>;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;        f.offset = <a class="code" href="structpcl_1_1traits_1_1offset.html">traits::offset&lt;PointT, U&gt;::value</a>;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;        f.datatype = <a class="code" href="structpcl_1_1traits_1_1datatype.html">traits::datatype&lt;PointT, U&gt;::value</a>;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;        f.count = <a class="code" href="structpcl_1_1traits_1_1datatype.html">traits::datatype&lt;PointT, U&gt;::size</a>;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;        fields_.push_back (f);</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;      }</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160; </div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      std::vector&lt;pcl::PCLPointField&gt;&amp; fields_;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    };</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160; </div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    <span class="comment">// For converting message to template point cloud.</span></div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00084"></a><span class="lineno"><a class="line" href="structpcl_1_1detail_1_1_field_mapper.html">   84</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structpcl_1_1detail_1_1_field_mapper.html">FieldMapper</a></div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    {</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      <a class="code" href="structpcl_1_1detail_1_1_field_mapper.html">FieldMapper</a> (<span class="keyword">const</span> std::vector&lt;pcl::PCLPointField&gt;&amp; fields,</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;                   std::vector&lt;FieldMapping&gt;&amp; map)</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;        : fields_ (fields), map_ (map)</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;      {</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;      }</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160; </div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;      <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Tag&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;      operator () ()</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;      {</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;        BOOST_FOREACH (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_p_c_l_point_field.html">pcl::PCLPointField</a>&amp; field, fields_)</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;        {</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;          <span class="keywordflow">if</span> (<a class="code" href="structpcl_1_1_field_matches.html">FieldMatches&lt;PointT, Tag&gt;</a>()(field))</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;          {</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;            <a class="code" href="structpcl_1_1detail_1_1_field_mapping.html">FieldMapping</a> mapping;</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;            mapping.serialized_offset = field.offset;</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;            mapping.struct_offset = <a class="code" href="structpcl_1_1traits_1_1offset.html">traits::offset&lt;PointT, Tag&gt;::value</a>;</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;            mapping.size = <span class="keyword">sizeof</span> (<span class="keyword">typename</span> <a class="code" href="structpcl_1_1traits_1_1datatype.html">traits::datatype&lt;PointT, Tag&gt;::type</a>);</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;            map_.push_back (mapping);</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;            <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;          }</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;        }</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;        <span class="comment">// Disable thrown exception per #595: http://dev.pointclouds.org/issues/595</span></div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;        PCL_WARN (<span class="stringliteral">&quot;Failed to find match for field &#39;%s&#39;.\n&quot;</span>, <a class="code" href="structpcl_1_1traits_1_1name.html">traits::name&lt;PointT, Tag&gt;::value</a>);</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;        <span class="comment">//throw pcl::InvalidConversionException (ss.str ());</span></div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      }</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;      <span class="keyword">const</span> std::vector&lt;pcl::PCLPointField&gt;&amp; fields_;</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;      std::vector&lt;FieldMapping&gt;&amp; map_;</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    };</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160; </div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;    fieldOrdering (<span class="keyword">const</span> <a class="code" href="structpcl_1_1detail_1_1_field_mapping.html">FieldMapping</a>&amp; a, <span class="keyword">const</span> <a class="code" href="structpcl_1_1detail_1_1_field_mapping.html">FieldMapping</a>&amp; b)</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    {</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;      <span class="keywordflow">return</span> (a.serialized_offset &lt; b.serialized_offset);</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    }</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160; </div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;  } <span class="comment">//namespace detail</span></div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160; </div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;  createMapping (<span class="keyword">const</span> std::vector&lt;pcl::PCLPointField&gt;&amp; msg_fields, MsgFieldMap&amp; field_map)</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;  {</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    <span class="comment">// Create initial 1-1 mapping between serialized data segments and struct fields</span></div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    detail::FieldMapper&lt;PointT&gt; mapper (msg_fields, field_map);</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    for_each_type&lt; typename traits::fieldList&lt;PointT&gt;::type &gt; (mapper);</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160; </div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;    <span class="comment">// Coalesce adjacent fields into single memcpy&#39;s where possible</span></div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;    <span class="keywordflow">if</span> (field_map.size() &gt; 1)</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;    {</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;      std::sort(field_map.begin(), field_map.end(), detail::fieldOrdering);</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;      MsgFieldMap::iterator i = field_map.begin(), j = i + 1;</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;      <span class="keywordflow">while</span> (j != field_map.end())</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;      {</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;        <span class="comment">// This check is designed to permit padding between adjacent fields.</span></div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;<span class="comment"></span>        <span class="keywordflow">if</span> (j-&gt;serialized_offset - i-&gt;serialized_offset == j-&gt;struct_offset - i-&gt;struct_offset)</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;        {</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;          i-&gt;size += (j-&gt;struct_offset + j-&gt;size) - (i-&gt;struct_offset + i-&gt;size);</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;          j = field_map.erase(j);</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;        }</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;        {</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;          ++i;</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;          ++j;</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;        }</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;      }</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;    }</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;  }</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160; </div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;  fromPCLPointCloud2 (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a>&amp; msg, <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a>&amp; cloud,</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;              <span class="keyword">const</span> MsgFieldMap&amp; field_map)</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;  {</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;    <span class="comment">// Copy info fields</span></div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;    cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a82e0be055a617e5e74102ed62712b352">header</a>   = msg.header;</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;    cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>    = msg.width;</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;    cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>   = msg.height;</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;    cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = msg.is_dense == 1;</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160; </div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;    <span class="comment">// Copy point data</span></div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;    uint32_t num_points = msg.width * msg.height;</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;    cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.resize (num_points);</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;    uint8_t* cloud_data = <span class="keyword">reinterpret_cast&lt;</span>uint8_t*<span class="keyword">&gt;</span>(&amp;cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[0]);</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160; </div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;    <span class="comment">// Check if we can copy adjacent points in a single memcpy.  We can do so if there</span></div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;    <span class="comment">// is exactly one field to copy and it is the same size as the source and destination</span></div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;    <span class="comment">// point types.</span></div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;    <span class="keywordflow">if</span> (field_map.size() == 1 &amp;&amp;</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;        field_map[0].serialized_offset == 0 &amp;&amp;</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;        field_map[0].struct_offset == 0 &amp;&amp;</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;        field_map[0].size == msg.point_step &amp;&amp;</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;        field_map[0].size == <span class="keyword">sizeof</span>(<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>))</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;    {</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;      uint32_t cloud_row_step = <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span> (<span class="keyword">sizeof</span> (<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>) * cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>);</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;      <span class="keyword">const</span> uint8_t* msg_data = &amp;msg.data[0];</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;      <span class="comment">// Should usually be able to copy all rows at once</span></div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;      <span class="keywordflow">if</span> (msg.row_step == cloud_row_step)</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;      {</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;        memcpy (cloud_data, msg_data, msg.data.size ());</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;      }</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;      {</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;        <span class="keywordflow">for</span> (uint32_t i = 0; i &lt; msg.height; ++i, cloud_data += cloud_row_step, msg_data += msg.row_step)</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;          memcpy (cloud_data, msg_data, cloud_row_step);</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;      }</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160; </div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;    }</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;    {</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;      <span class="comment">// If not, memcpy each group of contiguous fields separately</span></div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;      <span class="keywordflow">for</span> (uint32_t row = 0; row &lt; msg.height; ++row)</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;      {</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;        <span class="keyword">const</span> uint8_t* row_data = &amp;msg.data[row * msg.row_step];</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;        <span class="keywordflow">for</span> (uint32_t col = 0; col &lt; msg.width; ++col)</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;        {</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;          <span class="keyword">const</span> uint8_t* msg_data = row_data + col * msg.point_step;</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;          BOOST_FOREACH (<span class="keyword">const</span> detail::FieldMapping&amp; mapping, field_map)</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;          {</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;            memcpy (cloud_data + mapping.struct_offset, msg_data + mapping.serialized_offset, mapping.size);</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;          }</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;          cloud_data += <span class="keyword">sizeof</span> (<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>);</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;        }</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;      }</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;    }</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;  }</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160; </div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;  fromPCLPointCloud2 (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a>&amp; msg, <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a>&amp; cloud)</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;  {</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;    MsgFieldMap field_map;</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;    createMapping&lt;PointT&gt; (msg.fields, field_map);</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;    fromPCLPointCloud2 (msg, cloud, field_map);</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;  }</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160; </div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;  toPCLPointCloud2 (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a>&amp; cloud, <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a>&amp; msg)</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;  {</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;    <span class="comment">// Ease the user&#39;s burden on specifying width/height for unorganized datasets</span></div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;    <span class="keywordflow">if</span> (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> == 0 &amp;&amp; cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> == 0)</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;    {</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;      msg.width  = <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span>(cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ());</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;      msg.height = 1;</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;    }</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;    {</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;      assert (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size () == cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> * cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>);</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;      msg.height = cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>;</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;      msg.width  = cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>;</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;    }</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160; </div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;    <span class="comment">// Fill point cloud binary data (padding and all)</span></div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;    <span class="keywordtype">size_t</span> data_size = <span class="keyword">sizeof</span> (<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>) * cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ();</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;    msg.data.resize (data_size);</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;    <span class="keywordflow">if</span> (data_size)</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;    {</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;      memcpy(&amp;msg.data[0], &amp;cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[0], data_size);</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;    }</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160; </div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;    <span class="comment">// Fill fields metadata</span></div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;    msg.fields.clear ();</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;    for_each_type&lt;typename traits::fieldList&lt;PointT&gt;::type&gt; (detail::FieldAdder&lt;PointT&gt;(msg.fields));</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160; </div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;    msg.header     = cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a82e0be055a617e5e74102ed62712b352">header</a>;</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;    msg.point_step = <span class="keyword">sizeof</span> (<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>);</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;    msg.row_step   = <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span> (<span class="keyword">sizeof</span> (<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>) * msg.width);</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;    msg.is_dense   = cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a>;</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;  }</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160; </div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> CloudT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;  toPCLPointCloud2 (<span class="keyword">const</span> CloudT&amp; cloud, <a class="code" href="structpcl_1_1_p_c_l_image.html">pcl::PCLImage</a>&amp; msg)</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;  {</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;    <span class="comment">// Ease the user&#39;s burden on specifying width/height for unorganized datasets</span></div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;    <span class="keywordflow">if</span> (cloud.width == 0 &amp;&amp; cloud.height == 0)</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;      <span class="keywordflow">throw</span> std::runtime_error(<span class="stringliteral">&quot;Needs to be a dense like cloud!!&quot;</span>);</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;    {</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;      <span class="keywordflow">if</span> (cloud.points.size () != cloud.width * cloud.height)</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;        <span class="keywordflow">throw</span> std::runtime_error(<span class="stringliteral">&quot;The width and height do not match the cloud size!&quot;</span>);</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;      msg.height = cloud.height;</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;      msg.width = cloud.width;</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;    }</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160; </div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;    <span class="comment">// ensor_msgs::image_encodings::BGR8;</span></div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;    msg.encoding = <span class="stringliteral">&quot;bgr8&quot;</span>;</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;    msg.step = msg.width * <span class="keyword">sizeof</span> (uint8_t) * 3;</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;    msg.data.resize (msg.step * msg.height);</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> y = 0; y &lt; cloud.height; y++)</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;    {</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> x = 0; x &lt; cloud.width; x++)</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;      {</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;        uint8_t * pixel = &amp;(msg.data[y * msg.step + x * 3]);</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;        memcpy (pixel, &amp;cloud (x, y).rgb, 3 * <span class="keyword">sizeof</span>(uint8_t));</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;      }</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;    }</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;  }</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160; </div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;  <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;  toPCLPointCloud2 (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a>&amp; cloud, <a class="code" href="structpcl_1_1_p_c_l_image.html">pcl::PCLImage</a>&amp; msg)</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;  {</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;    <span class="keywordtype">int</span> rgb_index = -1;</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;    <span class="comment">// Get the index we need</span></div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> d = 0; d &lt; cloud.fields.size (); ++d)</div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;      <span class="keywordflow">if</span> (cloud.fields[d].name == <span class="stringliteral">&quot;rgb&quot;</span>)</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;      {</div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;        rgb_index = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(d);</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;        <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;      }</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160; </div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;    <span class="keywordflow">if</span>(rgb_index == -1)</div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;      <span class="keywordflow">throw</span> std::runtime_error (<span class="stringliteral">&quot;No rgb field!!&quot;</span>);</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;    <span class="keywordflow">if</span> (cloud.width == 0 &amp;&amp; cloud.height == 0)</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;      <span class="keywordflow">throw</span> std::runtime_error (<span class="stringliteral">&quot;Needs to be a dense like cloud!!&quot;</span>);</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;    {</div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;      msg.height = cloud.height;</div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;      msg.width = cloud.width;</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;    }</div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;    <span class="keywordtype">int</span> rgb_offset = cloud.fields[rgb_index].offset;</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;    <span class="keywordtype">int</span> point_step = cloud.point_step;</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160; </div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;    <span class="comment">// pcl::image_encodings::BGR8;</span></div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;    msg.encoding = <span class="stringliteral">&quot;bgr8&quot;</span>;</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;    msg.step = <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span>(msg.width * <span class="keyword">sizeof</span> (uint8_t) * 3);</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;    msg.data.resize (msg.step * msg.height);</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160; </div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> y = 0; y &lt; cloud.height; y++)</div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;    {</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> x = 0; x &lt; cloud.width; x++, rgb_offset += point_step)</div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;      {</div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;        uint8_t * pixel = &amp;(msg.data[y * msg.step + x * 3]);</div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;        memcpy (pixel, &amp;(cloud.data[rgb_offset]), 3 * sizeof (uint8_t));</div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;      }</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;    }</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;  }</div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;}</div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160; </div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">//#ifndef PCL_CONVERSIONS_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a2185a6453f8ad905d7bdf7b45754a160"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">pcl::PointCloud::width</a></div><div class="ttdeci">uint32_t width</div><div class="ttdoc">The point cloud width (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:413</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a3ca88d8ebf6f4f35acbc31cdfb38aa94"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">pcl::PointCloud::is_dense</a></div><div class="ttdeci">bool is_dense</div><div class="ttdoc">True if no points are invalid (e.g., have NaN or Inf values).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:418</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a4f34b45220c57f96607513ffad0d9582"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">pcl::PointCloud::height</a></div><div class="ttdeci">uint32_t height</div><div class="ttdoc">The point cloud height (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:415</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a82e0be055a617e5e74102ed62712b352"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a82e0be055a617e5e74102ed62712b352">pcl::PointCloud::header</a></div><div class="ttdeci">pcl::PCLHeader header</div><div class="ttdoc">The point cloud header. It contains information about the acquisition time.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:407</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
<div class="ttc" id="astructpcl_1_1_field_matches_html"><div class="ttname"><a href="structpcl_1_1_field_matches.html">pcl::FieldMatches</a></div><div class="ttdef"><b>Definition:</b> point_traits.h:202</div></div>
<div class="ttc" id="astructpcl_1_1_p_c_l_image_html"><div class="ttname"><a href="structpcl_1_1_p_c_l_image.html">pcl::PCLImage</a></div><div class="ttdef"><b>Definition:</b> PCLImage.h:17</div></div>
<div class="ttc" id="astructpcl_1_1_p_c_l_point_cloud2_html"><div class="ttname"><a href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a></div><div class="ttdef"><b>Definition:</b> PCLPointCloud2.h:21</div></div>
<div class="ttc" id="astructpcl_1_1_p_c_l_point_field_html"><div class="ttname"><a href="structpcl_1_1_p_c_l_point_field.html">pcl::PCLPointField</a></div><div class="ttdef"><b>Definition:</b> PCLPointField.h:17</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
<div class="ttc" id="astructpcl_1_1detail_1_1_field_adder_html"><div class="ttname"><a href="structpcl_1_1detail_1_1_field_adder.html">pcl::detail::FieldAdder</a></div><div class="ttdef"><b>Definition:</b> conversions.h:66</div></div>
<div class="ttc" id="astructpcl_1_1detail_1_1_field_mapper_html"><div class="ttname"><a href="structpcl_1_1detail_1_1_field_mapper.html">pcl::detail::FieldMapper</a></div><div class="ttdef"><b>Definition:</b> conversions.h:85</div></div>
<div class="ttc" id="astructpcl_1_1detail_1_1_field_mapping_html"><div class="ttname"><a href="structpcl_1_1detail_1_1_field_mapping.html">pcl::detail::FieldMapping</a></div><div class="ttdef"><b>Definition:</b> point_cloud.h:57</div></div>
<div class="ttc" id="astructpcl_1_1traits_1_1datatype_html"><div class="ttname"><a href="structpcl_1_1traits_1_1datatype.html">pcl::traits::datatype</a></div><div class="ttdef"><b>Definition:</b> point_traits.h:163</div></div>
<div class="ttc" id="astructpcl_1_1traits_1_1name_html"><div class="ttname"><a href="structpcl_1_1traits_1_1name.html">pcl::traits::name</a></div><div class="ttdef"><b>Definition:</b> point_traits.h:139</div></div>
<div class="ttc" id="astructpcl_1_1traits_1_1offset_html"><div class="ttname"><a href="structpcl_1_1traits_1_1offset.html">pcl::traits::offset</a></div><div class="ttdef"><b>Definition:</b> point_traits.h:151</div></div>
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